开源项目SUSTechPOINTS的点云数据加载过程

作者：Kinglong 发表时间：2024-02-06 22:01

关键词：

1.程序启动

依次安装requirement.txt中的以下相关库：

tensorflow>=2.1

jinja2

cherrypy

filterpy

cheroot != 8.4.4

安装方法：

例如执行pip3 install tensorflow安装 tensorflow

如果安装速度慢，可以使用镜像，执行以下命令安装：

pip3 install -i https://pypi.tuna.tsinghua.edu.cn/simple/ tensorflow

执行命令：python main.py，启动程序。

2.editor.js

// 监听帧变化事件

this.frame_changed= function(event){

var sceneName = this.editorUi.querySelector("#scene-selector").value;

if (sceneName.length == 0 && this.data.world)

{

sceneName = this.data.world.frameInfo.scene;

}

if (sceneName.length == 0){

return;

}

var frame = event.currentTarget.value;

// 加载当前帧

this.load_world(sceneName, frame);

event.currentTarget.blur();

};

// 加载当前帧数据

this.load_world = async function(sceneName, frame, onFinished){

var world = await this.data.getWorld(sceneName, frame);

// 渲染

this.data.activate_world(

world,

function(){

self.on_load_world_finished(world);

if (onFinished)

onFinished();

}

);

}

// 渲染过程

this.on_load_world_finished= function(world){

this.moveAxisHelper(world);

this.moveRangeCircle(world);

this.lookAtWorld(world);

this.unselectBox(null, true);

this.render();

this.imageContextManager.attachWorld(world);

this.imageContextManager.render_2d_image();

this.render2dLabels(world);

// 刷新当前帧信息

this.update_frame_info(world.frameInfo.scene, world.frameInfo.frame);

this.select_locked_object();

//load_obj_ids_of_scene(world.frameInfo.scene);

objIdManager.setCurrentScene(world.frameInfo.scene);

// preload after the first world loaded

// otherwise the loading of the first world would be too slow

this.data.preloadScene(world.frameInfo.scene, world);

};

3.data.js

// 加载当前帧数据

getWorld(sceneName, frame, on_preload_finished){

world = this._createWorld(sceneName, frame, on_preload_finished);

}

_createWorld(sceneName, frame, on_preload_finished){

........

let world = new World(this, sceneName, frame, [this.worldGap*x, this.worldGap*y, this.worldGap*z], on_preload_finished);

........

}

4.world.js 一帧的数据处理

function World(data, sceneName, frame, coordinatesOffset, on_preload_finished){

......

// 相机数据

this.cameras = new Images(this.sceneMeta, sceneName, frame);

// 雷达数据

this.radars = new RadarManager(this.sceneMeta, this, this.frameInfo);

// 激光雷达数据

this.lidar = new Lidar(this.sceneMeta, this, this.frameInfo);

// 标注数据

this.annotation = new Annotation(this.sceneMeta, this, this.frameInfo);

......

}

this.go=function(){

    if (this.everythingDone){
        //console.error("re-activate world?");

        //however we still call on_finished
        if (this.on_finished){
            this.on_finished();
        }
        return;
    }

    if (this.preloaded()){

        //this.points.material.size = data.cfg.point_size;

        if (this.destroy_old_world){
            this.destroy_old_world();
        }

        if (this.destroyed){
            console.log("go after destroyed.");
            this.unload();
            return;
        }

        this.scene.add(this.webglGroup);

        this.lidar.go(this.scene);
        this.annotation.go(this.scene);
        this.radars.go(this.scene);
        this.aux_lidars.go(this.scene);

-----lidar.js 激光雷达点云数据-----

this.preload=function(on_preload_finished){
    this.on_preload_finished = on_preload_finished;
    var loader = new PCDLoader();
    var _self = this;
    loader.load( this.frameInfo.get_pcd_path(),
        //ok
        function ( pcd ) {
            _self.points_parse_time = new Date().getTime();
            console.log(_self.points_load_time, _self.frameInfo.scene, _self.frameInfo.frame, "parse pionts ", _self.points_parse_time - _self.create_time, "ms");

            if (_self.data.cfg.enableFilterPoints)// do some filtering work here
            {
                pcd = _self.remove_high_ponts(pcd, _self.data.cfg.filterPointsZ);
            }

5.annotation.js 标注数据

function Annotation(sceneMeta, world, frameInfo)

this.world = world

this.load_annotation((boxes)=>this.proc_annotation(boxes))

// 加载标注数据

this.load_annotation=function(on_load){

debugger

if (this.data.cfg.disableLabels){

on_load([]);

}else {

var xhr = new XMLHttpRequest();

// we defined the xhr

var _self = this;

xhr.onreadystatechange = function () {

if (this.readyState != 4) return;

if (this.status == 200) {

let ann = _self.frameInfo.anno_to_boxes(this.responseText);

on_load(ann);

}

// end of state change: it can be after some time (async)

};

xhr.open('GET', "/load_annotation"+"?scene="+this.frameInfo.scene+"&frame="+this.frameInfo.frame, true);

xhr.send();

}

};

// 处理标注数据

this.proc_annotation = function(boxes){

// .......

// by kinlong 参数boxes是标注数据，this.boxes是对象

this.boxes = this.createBoxes(boxes); //create in future world

this.boxes.forEach(b=>this.webglGroup.add(b));

this.world.webglGroup.add(this.webglGroup); // this.webglGroup.children

//this.world.webglGroup.children[0].children-->this.boxes--> [LineSegments]

}

this.createBoxes = function(annotations){

return annotations.map((b)=>{

return this.createOneBoxByAnn(b);

});

};

this.createOneBoxByAnn = function(annotation){

let b = annotation;

let mesh = this.createCuboid(b.psr.position,

b.psr.scale,

b.psr.rotation,

b.obj_type,

b.obj_id,

b.obj_attr);

if (b.annotator){

mesh.annotator = b.annotator;

}

if (b.follows)

mesh.follows = b.follows;

return mesh;

};

// 附加标注信息，创建长方体

this.createCuboid = function(pos, scale, rotation, obj_type, track_id, obj_attr){

let mesh = this.new_bbox_cube(parseInt("0x"+globalObjectCategory.get_obj_cfg_by_type(obj_type).color.slice(1)));

mesh.position.x = pos.x;

mesh.position.y = pos.y;

mesh.position.z = pos.z;

mesh.scale.x = scale.x;

mesh.scale.y = scale.y;

mesh.scale.z = scale.z;

mesh.rotation.x = rotation.x;

mesh.rotation.y = rotation.y;

mesh.rotation.z = rotation.z;

mesh.obj_track_id = track_id; //tracking id

mesh.obj_type = obj_type;

mesh.obj_attr = obj_attr;

mesh.obj_local_id = this.get_new_box_local_id();

mesh.world = this.world;

return mesh;

};

this.new_bbox_cube=function(color){

var h = 0.5;

var body = [

//top

-h,h,h, h,h,h,

h,h,h, h,-h,h,

h,-h,h, -h,-h,h,

-h,-h,h, -h, h, h,

//botom

-h,h,-h, h,h,-h,

h,h,-h, h,-h,-h,

h,-h,-h, -h,-h,-h,

-h,-h,-h, -h, h, -h,

// vertical lines

-h,h,h, -h,h,-h,

h,h,h, h,h,-h,

h,-h,h, h,-h,-h,

-h,-h,h, -h,-h,-h,

//direction

h, 0, h, 1.5*h, 0, h,

];

this.world.data.dbg.alloc();

var bbox = new THREE.BufferGeometry();

bbox.setAttribute( 'position', new THREE.Float32BufferAttribute(body, 3 ) );

if (!color){

color = 0x00ff00;

}

https://threejs.org/docs/index.html#api/en/materials/LineBasicMaterial

linewidth is 1, regardless of set value.

var material = new THREE.LineBasicMaterial( { color: color, linewidth: 1, opacity: this.data.cfg.box_opacity, transparent: true } );

var box = new THREE.LineSegments( bbox, material );

box.scale.x=1.8;

box.scale.y=4.5;

box.scale.z=1.5;

box.name="bbox";

box.obj_type="car";

return box;

};